MATLAB File Help: HebiArm
HebiArm
 HebiArm is a higher-level API for working with serial configurations
 
    HebiArm simplifies many of the tasks commonly encountered when
    with arm-like configurations such as trajectory replanning,
    acceleration compensation, and keeping track of auxiliary state 
    such as a gripper.
 
    It also features a plugin mechanism to enable optional features
    such as offsetting efforts when working with external springs, or
    adding impedance control.
 
    Example
       % Setup the arm
       group = HebiLookup.newGroupFromNames('Arm', 'J*');
       kin = HebiUtils.loadHRDF('A-2085-06.hrdf');
       arm = HebiArm(group, kin);
 
       % Move to home position
       arm.update();
       arm.setGoal(homePosition);
       while ~arm.isAtGoal()
           arm.update();
           arm.send();
       end
See also
Class Details
Superclasses handle
Sealed false
Construct on load false
Constructor Summary
HebiArm requires a HebiGroup of devices and a corresponding 
Property Summary
group  
kin  
pluginList plugins as a list 
plugins plugin lookup by names 
state  
traj  
trajGen  
Method Summary
  clearGoal cancels any active goal, returning to a 
Static   createFromConfig creates a HebiArm according to the config 
  delete Delete a handle object. 
  getPluginByType Retrieves a plugin by its plugin type 
  getProgress returns normalized [0-1] time of where trajectory is 
  isAtGoal  
Sealed   isvalid Test handle validity. 
  send sends the current command state to the module group 
  setGoal arm.setGoal(pos, 'velocities', vel, 'accelerations', accel, 'time', time);  
  update reads feedback and updates internal state 
Event Summary
ObjectBeingDestroyed Notifies listeners that a particular object has been destroyed.